Is there a proof to explain why XOR cannot be linearly separable?
Before proving that XOR cannot be linearly separable, we first need to prove a  lemma:
Lemma 1
Lemma: If 3 points are collinear and the middle point has a different label than the other two, then these 3 points cannot be linearly separable.

Proof: Let us label the points as point $A$, $B$, and $C$. $A$ and $C$ have the same label, and $B$ has a different label. They are all collinear with line $\mathcal{L}$.
Assume the contradiction, so a line can linearly separate $A$, $B$, and $C$. This means a line must cross between segment $AB$, and segment $BC$ to linearly separate these three points (by definition of linear separability). Let us label the point where the line crosses segment $AB$ and point $Y$, and the point where the line corsses segment $BC$ and point $Z$.
However, since segments $AB$ and $BC$ are collinear to line $\mathcal{L}$, points $Y$ and $Z$ also falls on line $\mathcal{L}$. Since only one unique line can cross 2 points, it must be that the only line that passes segments $AB$ and $BC$ and (therefore separates points $A$, $B$, and $C$) is line $\mathcal{L}$.
However, line $\mathcal{L}$ cannot linearly separate $A$, $B$, and $C$, since line $\mathcal{L}$ also crosses them. Therefore, no line exists can separate $A$, $B$, and $C$.
Main proof

Consider these 4 points that represent a XOR table. Let us label them clock-wise, so the top-left point as $A$, top-right point as $B$, bottom-right point as $C$, and bottom-left point as $D$. So $A$ and $C$ have the same label, and $B$ and $D$ have the same label. We want to show that points $A, B, C$ and $D$ cannot be linearly separable.
Assume the contradiction, and that there is a line that can separate these 4 points.
Imagine a fifth point that lies in the center, and let us label this as point $E$.
Since $E$ lies in the center, the three points $A, E$ and $C$ are collinear. Similarly, since $E$ lies in the center, the three points $B, E$ and $D$ are collinear.
Because we assume a line can linearly separate $A, B, C$ and $D$, then this line must label point $E$ as some label. If $E$ shares the same label as $A$ and $C$, then the points $B, E$ and $D$ will become &quot;collinear points where the middle point has a different label&quot;, which by Lemma 1 cannot be linearly separable. Likewise, if $E$ shares the same label as $B$ and $D$, then the points $A, E$ and $C$ will become &quot;collinear points where the middle point has a different label&quot;, which by Lemma 1 cannot be linearly separable.
Therefore it is impossible to give a label to $E$ while satisfying linear separability. As a result, our assumption must be false, and the four points $A, B, C$ and $D$ cannot be linearly separable.